EP3623834A1 - Procédé de localisation précise - Google Patents

Procédé de localisation précise Download PDF

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Publication number
EP3623834A1
EP3623834A1 EP18465571.0A EP18465571A EP3623834A1 EP 3623834 A1 EP3623834 A1 EP 3623834A1 EP 18465571 A EP18465571 A EP 18465571A EP 3623834 A1 EP3623834 A1 EP 3623834A1
Authority
EP
European Patent Office
Prior art keywords
vehicle
motion data
traffic participant
positioning
participant positioning
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP18465571.0A
Other languages
German (de)
English (en)
Inventor
Andrei Son
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Continental Automotive GmbH
Original Assignee
Continental Automotive GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Continental Automotive GmbH filed Critical Continental Automotive GmbH
Priority to EP18465571.0A priority Critical patent/EP3623834A1/fr
Priority to DE102019211684.1A priority patent/DE102019211684A1/de
Publication of EP3623834A1 publication Critical patent/EP3623834A1/fr
Withdrawn legal-status Critical Current

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Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
    • G01S19/485—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an optical system or imaging system
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/51—Relative positioning
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/0009—Transmission of position information to remote stations
    • G01S5/0072—Transmission between mobile stations, e.g. anti-collision systems
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
    • G07C5/00—Registering or indicating the working of vehicles
    • G07C5/008—Registering or indicating the working of vehicles communicating information to a remotely located station
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
    • G01C21/30—Map- or contour-matching
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/396—Determining accuracy or reliability of position or pseudorange measurements
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/40—Correcting position, velocity or attitude

Definitions

  • a method for precise localization using traffic participants is provided.
  • GNSS global satellite navigation systems
  • GPS global satellite navigation systems
  • Galileo Galileo or GLONASS
  • Dead Reckoning technologies the availability and accuracy of a GNSS position depends on the visibility of satellites, their visibility geometry and on other factors, mainly wave propagation, so that for vehicles sensors of the car support the positioning. E.g., starting from a reliable position, the position can be propagated using the measured speed, acceleration etc. This is especially helpful when the vehicle passes through a tunnel.
  • map matching technologies use stored maps to adjust the position of the vehicle to the road.
  • ADAS Advanced Driver Assistance Systems
  • Current precise localization mechanisms are relying furthermore on local uniquely identified landmarks that are stored in the map and detected by ADAS sensor systems that bring a very fine correction of the ego-vehicle position, given initially by GPS and vehicle dynamics used in Dead Reckoning.
  • the task is solved by a localization system and a method described in embodiments of the invention.
  • a localization system for a vehicle comprising
  • the positioning and motion data of other vehicles are measured by the ego-vehicle and, on the other hand, the other vehicle itself provides the same parameters. Based on these two data sets a correction of the position can be determined.
  • the vehicles can broadcast their own traffic participant positioning and motion data (TPPMD) and the TPPMD of all the detected traffic participants around them.
  • TPMD traffic participant positioning and motion data
  • the broadcasted TPPMDs can further be used by each vehicle that receives these data to correct their precise localization by mapping the received TPPMDs with the detected traffic participants at the specified timestamp.
  • the traffic participant positioning and motion data of the localization system comprises:
  • the position of the other car can be related, e.g., to the center of the car and to propagate the position to a single reference epoch for the received and sensed measurements.
  • the vehicle of the localization system comprises a sensor system configured to acquire traffic participant positioning and motion data of the vehicle; wherein the communication device is configured to broadcast the traffic participant positioning and motion data of the vehicle.
  • the ego-vehicle provides its own TPPMD data to other vehicles.
  • the correction of the position of the vehicle comprises comparing traffic participant positioning and motion data of a plurality of other vehicles with traffic participant positioning and motion data of the vehicle.
  • a vehicle comprising a localization system as described above.
  • a method of localizing a vehicle comprising the steps of:
  • the method corresponds to the localization system described above.
  • a program element which, when being executed by a control unit of a vehicle, instructs the vehicle to perform the steps of the method described above.
  • a computer readable medium is provided on which a program element as described above is stored.
  • Fig. 1 shows a vehicle 100 that comprises a localization system 200.
  • the vehicle 100 is surrounded by other vehicles 101, 102, each of which comprises sensor and communication systems 200, 210, 220 that are capable to individually measure their own position, their speed, acceleration and angle of movement and which broadcast this information together with a timestamp of the measurements and the stored dimensions of the vehicle 100, 101, 102.
  • the communication units of the vehicles 100, 101, 102 that are part of the localization systems 200, 210, 220 broadcast this information, and the receivers of the localization system 200, 210, 220 of vehicle 100 receives the broadcast data.
  • the following description illustrates the case, where vehicle 100 receives the data from the other vehicles 101, 102 and correspondingly, the localization system of vehicle 100 is described.
  • the localization system 200 comprises a communication unit 205 that receives the traffic participant positioning and motion data of one or more other vehicles 101, 102. Furthermore, it comprises sensors 206, 207 to detect its own position, as, e.g., a GNSS sensor 207. The position obtained by means of GNSS is a course position wherein the accuracy may be increased using the further sensors 206. Therefore, the system for localization may optionally comprise additionally, e.g. odometers, accelerometers and maps shown as block 206 in Fig. 2 . These sensors 206 allow for supporting the position determination using methods as, e.g., Dead Reckoning, map matching, or other position propagation techniques known from the navigation area.
  • advanced driver assistant service sensors 202, and cameras 203 may support the position determination by sensing, e.g., the environment in combination with a high definition map 204. Nevertheless, the thus obtained position may still be course and may be further refined by additional information received by the communication unit 205.
  • the communication module comprises a broadcast module to send the traffic participant positioning and motion data of the vehicle 100 to other vehicles 101, 102.
  • Fig. 3 shows an example scenario 300 in which the localization system 200 may be applied.
  • a vehicle 100 that is also called ego-vehicle and which may be the same as vehicle 100 in Fig. 1 receives traffic participant positioning and motion data from vehicle 101 which may be the same vehicle as vehicle 101 in Fig. 1 .
  • Other vehicles 301, 302, and 303 receive also the traffic participant positioning and motion data of vehicle 101.
  • the vehicles travel on lanes 310, 311, and 312 for one direction of a road 320. The angle of movement of the vehicles may differ.
  • the vehicle 100 receives and uses only the data broadcast by vehicle 101.
  • this information may also be used to get, e.g., a single combined position offset by determining the delta positions for each of these vehicles and combining the results, e.g., by determining a mean or a weighted mean or by using a specific algorithm.
  • Fig. 4 shows an embodiment illustrated with a block diagram.
  • a GNSS signal is sensed and a first course position is obtained by aiding the GNSS signal with other navigation information as, e.g. velocity and acceleration from sensors of the vehicle.
  • the course position 402 is provided to the precise localization and position algorithm 403.
  • An ADAS sensor network 404 inside or attached to the vehicle 100 delivers environmental information, as, e.g., landmarks or specific traffic signs, that may be used to find in combination with a high density map 405 a difference of an expected position of, e.g., the landmarks or signs by applying a static environment model 406.
  • the ADAS sensor network detects at least parts of the traffic participant positioning and motion data set of other vehicles as, e.g., their position and velocity. Further data needed to complete such a data set as, e.g., the dimension of the other vehicle may be sensed or retrieved from a database when recognizing the type or model of the vehicle.
  • the high-density map 405 may be retrieved from a backend server 407 inside the vehicle 100 or through an over-the-air interface.
  • the precise localization and position algorithm 403 uses the static environment model 406, the HD map 405, the course position 402, and correction data from a feedback loop 409 to calculate a precise position 410.
  • the precise position 410 and the further traffic participant positioning and motion data 408 of the vehicle 100 itself and of other sensed vehicles 101, 102 including, e.g., car dimensions and timestamps are collected in the TPPMD broadcast sender 411 and broadcast over, e.g., the 5G+ Connected Automated Driving network 413 for other vehicles 101, 102.
  • TPPMDs from other vehicles 101, 102 are received in the TPPMD receiver 415 and provided 416 to the position correction algorithm based on dynamic TPPMDs.
  • the position correction algorithm calculates the position correction, e.g., by comparing the TPPMD of the other vehicles 101, 102 with its own TPPMD and sends the position correction 409 to the precise localization and position algorithm which corrects the course position obtained from GNSS and Dead Reckoning and, if available, the static environment model.
  • Fig. 5 shows a flow diagram of the method according to an embodiment.
  • the non-precise position of the vehicle is determined.
  • the traffic participant positioning and motion data of another vehicle is sensed.
  • the traffic participant positioning and motion data from another vehicle is received; and in 504 the position of the vehicle is corrected based on the sensed traffic participant positioning and motion data and the traffic participant positioning and motion data received from the other vehicle.
EP18465571.0A 2018-09-11 2018-09-11 Procédé de localisation précise Withdrawn EP3623834A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP18465571.0A EP3623834A1 (fr) 2018-09-11 2018-09-11 Procédé de localisation précise
DE102019211684.1A DE102019211684A1 (de) 2018-09-11 2019-08-05 Verfahren zur genauen Ortsbestimmung

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP18465571.0A EP3623834A1 (fr) 2018-09-11 2018-09-11 Procédé de localisation précise

Publications (1)

Publication Number Publication Date
EP3623834A1 true EP3623834A1 (fr) 2020-03-18

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ID=63965584

Family Applications (1)

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EP18465571.0A Withdrawn EP3623834A1 (fr) 2018-09-11 2018-09-11 Procédé de localisation précise

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EP (1) EP3623834A1 (fr)
DE (1) DE102019211684A1 (fr)

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102013003588A1 (de) * 2013-03-02 2014-09-04 Audi Ag Verfahren zur absoluten Positionsbestimmung eines Fahrzeugs
US20150177003A1 (en) * 2013-12-25 2015-06-25 Industrial Technology Research Institute Vehicle position calibration method and apparatus
US20170031031A1 (en) * 2015-07-25 2017-02-02 GM Global Technology Operations LLC Method for positioning a vehicle
US20180114441A1 (en) * 2016-10-25 2018-04-26 Centre National D'etudes Spatiales Collaborative improvement of a vehicle's positioning

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102013003588A1 (de) * 2013-03-02 2014-09-04 Audi Ag Verfahren zur absoluten Positionsbestimmung eines Fahrzeugs
US20150177003A1 (en) * 2013-12-25 2015-06-25 Industrial Technology Research Institute Vehicle position calibration method and apparatus
US20170031031A1 (en) * 2015-07-25 2017-02-02 GM Global Technology Operations LLC Method for positioning a vehicle
US20180114441A1 (en) * 2016-10-25 2018-04-26 Centre National D'etudes Spatiales Collaborative improvement of a vehicle's positioning

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Publication number Publication date
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